# Robot description in the robot.yaml format, version 0.1.

format_version: "0.1"
name: PingTi Arm
summary: A low-cost, human-arm-scale open-source robotic arm compatible with Lerobot, based on the SO-100 arm, with a 600mm span and up to 500g payload.
category: arm
difficulty: intermediate
license:
  hardware: Apache-2.0
  software: Apache-2.0
source:
  repository: https://github.com/nomorewzx/PingTi-Arm
  ref: 9108729b79bc3509642386bb42948859ef4cbaf5
estimated_cost:
  amount: 261
  currency: USD
tools:
  - 3D printer
files:
  urdf: Simulation/PingTi_Arm_v3/urdf/PingTi_Arm_v3.urdf
  parts_3d: stl_3d_printing/
  cad: fusion/
  bom: docs/BOM_List.md
  docs: docs/
  images:
    - media/pingti_arm_demo.jpg
software:
  framework: lerobot
specs:
  reach_mm: 600
  payload_g: 500
build_steps:
  - title: Print the arm links and parts
  - title: Assemble the arm